EtherCAT FoE state machines. More...

Macros
#define	EC_FSM_FOE_TIMEOUT 3000
	Maximum time in ms to wait for responses when reading out the dictionary.

#define	EC_FOE_HEADER_SIZE 6
	Size of the FoE header.

Enumerations
enum	{ EC_FOE_OPCODE_RRQ = 1, EC_FOE_OPCODE_WRQ = 2, EC_FOE_OPCODE_DATA = 3, EC_FOE_OPCODE_ACK = 4, EC_FOE_OPCODE_ERR = 5, EC_FOE_OPCODE_BUSY = 6 }
	FoE OpCodes. More...

Functions
int	ec_foe_prepare_data_send (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	Sends a file or the next fragment. More...

int	ec_foe_prepare_wrq_send (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	Prepare a write request (WRQ) with filename. More...

int	ec_foe_prepare_rrq_send (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	Prepare a read request (RRQ) with filename. More...

int	ec_foe_prepare_send_ack (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	Prepare to send an acknowledge. More...

void	ec_foe_set_tx_error (ec_fsm_foe_t *fsm, uint32_t errorcode)
	Set an error code and go to the send error state. More...

void	ec_foe_set_rx_error (ec_fsm_foe_t *fsm, uint32_t errorcode)
	Set an error code and go to the receive error state. More...

void	ec_fsm_foe_end (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	State: END. More...

void	ec_fsm_foe_error (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	State: ERROR. More...

void	ec_fsm_foe_state_wrq_sent (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	State: WRQ SENT. More...

void	ec_fsm_foe_state_rrq_sent (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	State: RRQ SENT. More...

void	ec_fsm_foe_state_ack_check (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	Check for acknowledge. More...

void	ec_fsm_foe_state_ack_read (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	Acknowledge a read operation. More...

void	ec_fsm_foe_state_data_sent (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	State: WRQ SENT. More...

void	ec_fsm_foe_state_data_check (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	Check for data. More...

void	ec_fsm_foe_state_data_read (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	Start reading data. More...

void	ec_fsm_foe_state_sent_ack (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	Sent an acknowledge. More...

void	ec_fsm_foe_write_start (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	Initializes the FoE write state machine. More...

void	ec_fsm_foe_read_start (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	Starting state for read operations. More...

void	ec_fsm_foe_init (ec_fsm_foe_t *fsm)
	Constructor. More...

void	ec_fsm_foe_clear (ec_fsm_foe_t *fsm)
	Destructor. More...

int	ec_fsm_foe_exec (ec_fsm_foe_t fsm, ec_datagram_t datagram)
	Executes the current state of the state machine. More...

int	ec_fsm_foe_success (const ec_fsm_foe_t *fsm)
	Returns, if the state machine terminated with success. More...

void	ec_fsm_foe_transfer (ec_fsm_foe_t fsm, ec_slave_t slave, ec_foe_request_t *request)
	Prepares an FoE transfer. More...

Detailed Description

EtherCAT FoE state machines.

Definition in file fsm_foe.c.

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

FoE OpCodes.

Enumerator
EC_FOE_OPCODE_RRQ	Read request.
EC_FOE_OPCODE_WRQ	Write request.
EC_FOE_OPCODE_DATA	Data.
EC_FOE_OPCODE_ACK	Acknowledge.
EC_FOE_OPCODE_ERR	Error.
EC_FOE_OPCODE_BUSY	Busy.

Definition at line 54 of file fsm_foe.c.

Function Documentation

◆ ec_foe_prepare_data_send()

int ec_foe_prepare_data_send	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Sends a file or the next fragment.

Returns: Zero on success, otherwise a negative error code.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 224 of file fsm_foe.c.

◆ ec_foe_prepare_wrq_send()

int ec_foe_prepare_wrq_send	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Prepare a write request (WRQ) with filename.

Returns: Zero on success, otherwise a negative error code.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 265 of file fsm_foe.c.

◆ ec_foe_prepare_rrq_send()

int ec_foe_prepare_rrq_send	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Prepare a read request (RRQ) with filename.

Returns: Zero on success, otherwise a negative error code.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 542 of file fsm_foe.c.

◆ ec_foe_prepare_send_ack()

int ec_foe_prepare_send_ack	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Prepare to send an acknowledge.

Returns: Zero on success, otherwise a negative error code.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 576 of file fsm_foe.c.

◆ ec_foe_set_tx_error()

void ec_foe_set_tx_error	(	ec_fsm_foe_t *	fsm,
		uint32_t	errorcode
	)

Set an error code and go to the send error state.

Parameters

fsm	FoE statemachine.
errorcode	FoE error code.

Definition at line 893 of file fsm_foe.c.

◆ ec_foe_set_rx_error()

void ec_foe_set_rx_error	(	ec_fsm_foe_t *	fsm,
		uint32_t	errorcode
	)

Set an error code and go to the receive error state.

Parameters

fsm	FoE statemachine.
errorcode	FoE error code.

Definition at line 906 of file fsm_foe.c.

◆ ec_fsm_foe_end()

void ec_fsm_foe_end	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: END.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 208 of file fsm_foe.c.

◆ ec_fsm_foe_error()

void ec_fsm_foe_error	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: ERROR.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 194 of file fsm_foe.c.

◆ ec_fsm_foe_state_wrq_sent()

void ec_fsm_foe_state_wrq_sent	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: WRQ SENT.

Checks is the previous transmit datagram succeded and sends the next fragment, if necessary.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 464 of file fsm_foe.c.

◆ ec_fsm_foe_state_rrq_sent()

void ec_fsm_foe_state_rrq_sent	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: RRQ SENT.

Checks is the previous transmit datagram succeeded and sends the next fragment, if necessary.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 602 of file fsm_foe.c.

◆ ec_fsm_foe_state_ack_check()

void ec_fsm_foe_state_ack_check	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for acknowledge.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 332 of file fsm_foe.c.

◆ ec_fsm_foe_state_ack_read()

void ec_fsm_foe_state_ack_read	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Acknowledge a read operation.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 384 of file fsm_foe.c.

◆ ec_fsm_foe_state_data_sent()

void ec_fsm_foe_state_data_sent	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: WRQ SENT.

Checks is the previous transmit datagram succeded and sends the next fragment, if necessary.

Parameters

fsm	Foe statemachine.
datagram	Datagram to use.

Definition at line 505 of file fsm_foe.c.

◆ ec_fsm_foe_state_data_check()

void ec_fsm_foe_state_data_check	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for data.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 673 of file fsm_foe.c.

◆ ec_fsm_foe_state_data_read()

void ec_fsm_foe_state_data_read	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Start reading data.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 723 of file fsm_foe.c.

◆ ec_fsm_foe_state_sent_ack()

void ec_fsm_foe_state_sent_ack	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Sent an acknowledge.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 847 of file fsm_foe.c.

◆ ec_fsm_foe_write_start()

void ec_fsm_foe_write_start	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Initializes the FoE write state machine.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 298 of file fsm_foe.c.

◆ ec_fsm_foe_read_start()

void ec_fsm_foe_read_start	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Starting state for read operations.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 640 of file fsm_foe.c.

◆ ec_fsm_foe_init()

void ec_fsm_foe_init ( ec_fsm_foe_t * fsm )

Constructor.

Parameters

fsm	finite state machine

Definition at line 95 of file fsm_foe.c.

◆ ec_fsm_foe_clear()

void ec_fsm_foe_clear ( ec_fsm_foe_t * fsm )

Destructor.

Parameters

fsm	finite state machine

Definition at line 107 of file fsm_foe.c.

◆ ec_fsm_foe_exec()

int ec_fsm_foe_exec	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Executes the current state of the state machine.

Returns: 1, if the datagram was used, else 0.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 117 of file fsm_foe.c.

◆ ec_fsm_foe_success()

int ec_fsm_foe_success ( const ec_fsm_foe_t * fsm )

Returns, if the state machine terminated with success.

Returns: non-zero if successful.

Parameters

fsm	Finite state machine

Definition at line 151 of file fsm_foe.c.

◆ ec_fsm_foe_transfer()

void ec_fsm_foe_transfer	(	ec_fsm_foe_t *	fsm,
		ec_slave_t *	slave,
		ec_foe_request_t *	request
	)

Prepares an FoE transfer.

Parameters

fsm	State machine.
slave	EtherCAT slave.
request	Sdo request.

Definition at line 160 of file fsm_foe.c.

Macros

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ anonymous enum

Function Documentation

◆ ec_foe_prepare_data_send()

◆ ec_foe_prepare_wrq_send()

◆ ec_foe_prepare_rrq_send()

◆ ec_foe_prepare_send_ack()

◆ ec_foe_set_tx_error()

◆ ec_foe_set_rx_error()

◆ ec_fsm_foe_end()

◆ ec_fsm_foe_error()

◆ ec_fsm_foe_state_wrq_sent()

◆ ec_fsm_foe_state_rrq_sent()

◆ ec_fsm_foe_state_ack_check()

◆ ec_fsm_foe_state_ack_read()

◆ ec_fsm_foe_state_data_sent()

◆ ec_fsm_foe_state_data_check()

◆ ec_fsm_foe_state_data_read()

◆ ec_fsm_foe_state_sent_ack()

◆ ec_fsm_foe_write_start()

◆ ec_fsm_foe_read_start()

◆ ec_fsm_foe_init()

◆ ec_fsm_foe_clear()

◆ ec_fsm_foe_exec()

◆ ec_fsm_foe_success()

◆ ec_fsm_foe_transfer()